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          <h1 id="project_title">Master Discovery</h1>
          <h2 id="project_tagline">Discover the running ROS Masters in local network</h2>

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This package contains discovery nodes to detect a ROS master in a multi robot system. There are currently two nodes 'master_discovery' and 'zeroconf' which uses different discovery strategies. 'zeroconf' node uses an avahi implementation of zeroconf technique. The 'master_discovery' node sends periodically a multicast message to notify about an available ROS master. Furthermore the ROS master will be monitored for changes. On changes other discovery nodes are notified using a timestamp. This feature is used e.g. by <a href="master_sync.html">master_sync</a> to syncronize the ROS masters. Moreover an XML-RPC server created by a discovery node helps to avoid a lot of requests on remote ROS master for a synchronization.
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For parameterization see <a href="http://wiki.ros.org/master_discovery_fkie">ros wiki</a>


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